First time

So my boyfriend and I had sex for the first time last weekend. We had sex twice without a condom, I am on birth control however I missed a pill one of the nights we had sex, I caught up on my pills the next day. He didn't finish during sex at all, without or with the condom. I am not experiencing any sort of pregnancy symptoms. I'm freaking out though, because I know you can get pregnant from precum. Could I be pregnant?